Road Estimation and Fuel Optimal Control of an Off-Road Vehicle

Jörgen Albrektsson, Jan Åslund

2017

Abstract

This paper explores the possibility to use optimal control to establish a Pareto front of fuel consumption vs cycle time for a transport mission with an articulated hauler. The Pareto front can be utilised to optimise the hauler transport mission on its own or as a part in a larger optimal control problem involving several construction machines working together on a site transporting material at a set production rate. While rolling resistance is a major energy consumer in an articulated hauler’s transport, the effect of varying rolling resistance is included in the developed optimisation algorithm. A method utilising Extended Kalman Filter, Rauch-Tung-Striebel smoothing and sensor fusion is formulated in order to calculate the road related data needed in the optimisation algorithm. A potential fuel efficiency improvement, verified by computer simulations, of up to 9% was found in the example transport mission where the optimal gear and speed trajectory were followed instead of driving towards a mean speed target to achieve an equal cycle time for the transport mission.

Paper Citation

in Harvard Style

Albrektsson J. and Åslund J. (2017). Road Estimation and Fuel Optimal Control of an Off-Road Vehicle . In Proceedings of the 3rd International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-242-4, pages 58-67. DOI: 10.5220/0006247200580067

in Bibtex Style

@conference{vehits17,
author={Jörgen Albrektsson and Jan Åslund},
title={Road Estimation and Fuel Optimal Control of an Off-Road Vehicle},
booktitle={Proceedings of the 3rd International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2017},
pages={58-67},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006247200580067},
isbn={978-989-758-242-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Road Estimation and Fuel Optimal Control of an Off-Road Vehicle
SN - 978-989-758-242-4
AU - Albrektsson J.
AU - Åslund J.
PY - 2017
SP - 58
EP - 67
DO - 10.5220/0006247200580067